Infrared signal detection method and device of robot, robot and medium

Abstract

The embodiment of the invention provides an infrared signal detection method and device of a robot, the robot and a medium, and belongs to the technical field of robots. The method comprises the following steps: receiving an infrared carrier signal sent by an infrared emission module of a workstation through an infrared receiving module of a robot; acquiring a level characteristic parameter according to the infrared carrier signal, wherein the level characteristic parameter comprises a level fitting rate and / or a level decoding success rate; and determining the signal quality of the infrared carrier signal according to the level characteristic parameter, wherein the level characteristic parameter is in direct proportion to the signal quality of the infrared carrier signal. According to the method, the robot can detect and calculate the quality of the infrared signals to the workstation in an area which is far away from an infrared signal source of the workstation and poor in signal, the accuracy of the signal quality of the infrared carrier signals is improved, meanwhile, the method has higher distinction degree and sensitivity to the infrared signal area, and the pile searching efficiency of the robot is improved.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a robot infrared signal detection method, device, robot and medium. Background Art

[0002] In the prior art, when the robot is searching for a charging pile, it determines the location of the charging pile by receiving the infrared signal emitted by the charging pile. The existing solution determines the quality of the infrared signal at the robot's location by counting the number and type of infrared data packets received. However, when the robot is far away from the charging pile or at a skewed angle, the infrared signal is poor and the infrared data packet cannot be correctly received, resulting in poor quality detection accuracy of the robot's infrared signal. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a robot's infrared signal detection method, device, robot and medium.

[0004] In a first aspect, an embodiment of the present application provides a method for detecting infrared signals of a robot, the method comprising:

[0005] The infrared receiving module of the robot receives the infrared carrier signal sent by the infrared transmitting module of the workstation;

[0006] Acquire a level characteristic parameter according to the infrared carrier signal, wherein the level characteristic parameter includes a level fitting rate and / or a level decoding success rate;

[0007] The signal quality of the infrared carrier signal is determined according to the level characteristic parameter, and the level characteristic parameter is proportional to the signal quality of the infrared carrier signal.

[0008] In one embodiment, the level characteristic parameter includes a level fitting rate, and the infrared carrier signal includes at least two code values ​​to be measured;

[0009] The step of obtaining a level characteristic parameter according to the infrared carrier signal comprises:

[0010] Acquire the actual carrier pulse time and the actual carrier idle time of each code value to be measured of the infrared carrier signal;

[0011] According to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested, matching with a plurality of preset code values ​​obtains a target code value corresponding to each of the code values ​​to be tested;

[0012] Obtaining a standard carrier pulse time and a standard carrier idle time for each target code value;

[0013] The level fitting rate is acquired according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be measured, and the standard carrier pulse time and the standard carrier idle time of each of the target code values.

[0014] In one embodiment, the obtaining of the actual carrier pulse time and the actual carrier idle time of each code value to be measured of the infrared carrier signal includes:

[0015] When the infrared receiving module receives the infrared carrier signal, a first level signal is sent to the controller of the robot through the infrared receiving module;

[0016] When the infrared receiving module does not receive the infrared carrier signal, sending a second level signal to the controller through the infrared receiving module;

[0017] The controller determines the actual carrier pulse time and the actual carrier idle time of each code value to be tested according to the first level signal and the second level signal.

[0018] In one implementation, the acquiring the level fitting rate according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested, and the standard carrier pulse time and the standard carrier idle time of each of the target code values, comprises:

[0019] Calculate the level time deviation between each code value to be tested and its target code value according to the actual carrier pulse time and the actual carrier idle time of each code value to be tested, and the standard carrier pulse time and the standard carrier idle time of each target code value;

[0020] Determine a level time deviation average value of each level time deviation and a maximum level time deviation among each level time deviation;

[0021] The level fitting rate is determined according to the level time deviation average value and the maximum level time deviation.

[0022] In one embodiment, the level characteristic parameter includes a level decoding success rate, and the infrared carrier signal includes at least two code values ​​to be tested;

[0023] The step of obtaining a level characteristic parameter according to the infrared carrier signal comprises:

[0024] Determine whether each code value to be tested is successfully decoded to obtain the number of successful level decoding;

[0025] The level decoding success rate is determined according to the number of level decoding times and the number of successful level decodings.

[0026] In one implementation, determining whether each code value to be tested is successfully level-decoded includes:

[0027] Matching the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested with a plurality of preset code values;

[0028] If the code value to be tested matches the corresponding target code value, it is determined that the level decoding of the code value to be tested is successful.

[0029] In one embodiment, the workstation includes at least two infrared transmitting modules, each of which is disposed at a different position of the workstation, and each of which transmits a different infrared carrier signal; the method further includes:

[0030] The infrared receiving module of the robot receives the infrared carrier signals alternately sent by the infrared transmitting modules of the workstation;

[0031] The infrared signal area where the robot is located is identified according to the received infrared carrier signal.

[0032] In a second aspect, an embodiment of the present application provides an infrared signal detection device for a robot, the device comprising:

[0033] A receiving module, used for receiving an infrared carrier signal sent by an infrared transmitting module of a workstation through an infrared receiving module of the robot;

[0034] An acquisition module, used for acquiring level characteristic parameters according to the infrared carrier signal, wherein the level characteristic parameters include a level fitting rate and / or a level decoding success rate;

[0035] The determination module is used to determine the signal quality of the infrared carrier signal according to the level characteristic parameter, and the level characteristic parameter is proportional to the signal quality of the infrared carrier signal.

[0036] In a third aspect, an embodiment of the present application provides a robot, comprising a memory and a processor, wherein the memory is used to store a computer program, and when the computer program is run by the processor, the infrared signal detection method of the robot provided in the first aspect is executed.

[0037] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when running on a processor, executes the infrared signal detection method for a robot provided in the first aspect.

[0038] The infrared signal detection method, device, robot and medium of the robot provided in the present application above receive the infrared carrier signal sent by the infrared transmitting module of the workstation through the infrared receiving module of the robot; obtain the level characteristic parameters according to the infrared carrier signal, the level characteristic parameters include the level fitting rate and / or the level decoding success rate; determine the signal quality of the infrared carrier signal according to the level characteristic parameters, and the level characteristic parameters are proportional to the signal quality of the infrared carrier signal. The robot can detect and calculate the infrared signal quality of the workstation in an area far away from the infrared signal source of the workstation and with poor signal, improve the accuracy of the signal quality of the infrared carrier signal, and at the same time have higher discrimination and sensitivity to the infrared signal area, thereby improving the efficiency of the robot in finding piles. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection of the present application. In each of the drawings, similar components are numbered similarly.

[0040] Figure 1 A schematic diagram of an application environment of the robot provided by an embodiment of the present application is shown;

[0041] Figure 2 A schematic diagram of an infrared carrier signal provided by an embodiment of the present application is shown;

[0042] Figure 3 A first flow chart of the infrared signal detection method of a robot provided in an embodiment of the present application is shown;

[0043] Figure 4 Another schematic diagram of an application environment of the robot provided by an embodiment of the present application is shown;

[0044] Figure 5 A second flow chart of the infrared signal detection method of the robot provided in an embodiment of the present application is shown;

[0045] Figure 6 A third flow chart of the infrared signal detection method of a robot provided in an embodiment of the present application is shown;

[0046] Figure 7 A fourth flow chart of the infrared signal detection method of a robot provided in an embodiment of the present application is shown;

[0047] Figure 8 A fifth flow chart of the infrared signal detection method of a robot provided in an embodiment of the present application is shown;

[0048] Fig. 9A schematic structural diagram of an infrared signal detection device for a robot provided in an embodiment of the present application is shown.

[0049] Icon: 100-robot, 101-infrared receiving module, 200-workstation, 201-infrared transmitting module, 900-infrared signal detection device of robot, 901-receiving module, 902-acquisition module, 903-determination module. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0051] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0052] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0053] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0054] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0055] Example 1

[0056] An embodiment of the present application provides an infrared signal detection method for a robot. The infrared signal detection method for a robot is applied to a robot provided with an infrared receiving module. The level characteristic parameters are obtained based on the infrared signal, and the infrared signal quality of the robot is determined according to the level characteristic parameters, thereby improving the detection accuracy of the infrared signal quality of the robot.

[0057] See also Figure 1 The robot 100 includes an infrared receiving module 101, and the robot's workstation 200 includes an infrared transmitting module 201, wherein the workstation 200 includes a charging pile, a communication base station, etc., which are not limited here. The infrared transmitting module 201 is used to transmit an infrared carrier signal, corresponding to an infrared signal area. When the robot is located in the infrared signal area, the infrared receiving module 101 is used to receive the infrared carrier signal.

[0058] It should be noted that the infrared carrier signal includes a leading code, a code value to be measured and an end code, and the leading code, the code value to be measured and the end code are respectively determined by the carrier pulse time T t and carrier idle time T d The carrier pulse time T corresponding to each code value can be set according to the technical parameters of the infrared transmitting module and the infrared receiving module. t and carrier idle time T d .

[0059] See also Figure 2 The minimum carrier pulse time and the minimum carrier idle time of the infrared transmitting module and the infrared receiving module are 600us. The minimum carrier pulse time and the minimum carrier idle time can also be other values, which are not limited here.

[0060] See also Figure 3 , the infrared signal detection method of the robot includes steps S301-S303, and each step is described below.

[0061] Step S301, receiving an infrared carrier signal sent by an infrared transmitting module of a workstation through an infrared receiving module of the robot.

[0062] In this embodiment, the robot can be provided with at least one infrared receiving module. When multiple infrared receiving modules are provided, each infrared receiving module is provided at a different position of the robot. The workstation includes a charging pile and a communication base station, etc., which are not limited here. The workstation can be provided with at least one infrared transmitting module. When multiple infrared transmitting modules are provided, each infrared transmitting module is provided at a different position of the workstation. Different distribution positions of the infrared transmitting modules will generate different infrared signal areas.

[0063] See also Figure 4The robot includes a plurality of infrared receiving modules 101, the workstation 200 includes a plurality of infrared transmitting modules 201, the models of the infrared transmitting modules 201 can be the same, the infrared receiving modules 101 are used to receive infrared carrier signals emitted by the infrared transmitting modules 201, and the models of the infrared receiving modules 101 can be the same.

[0064] Each infrared transmitting module is used to transmit infrared carrier information and has a corresponding infrared signal area. The infrared signal areas of multiple infrared transmitting modules may overlap or not overlap, which is determined in combination with actual conditions. When the infrared receiving module 101 of the robot is located in the infrared signal area, the infrared carrier signal can be received.

[0065] In this embodiment, the infrared carrier signal includes a preamble, a code value to be tested, and an end code, wherein the code value to be tested has a code value with different identification characteristics, and the number of the code values ​​to be tested is at least two, so that the discrimination rate of the code value to be tested can be improved. For example, the code value to be tested includes a first identification code value and a second identification code value, the preamble is used to indicate the start of infrared carrier signal transmission, the end code is used to indicate the end of infrared carrier signal transmission, and the code value to be tested represents different code values, which are used for subsequent quality detection of infrared carrier signals. Please participate again Figure 4 The infrared carrier signal emitted by each infrared transmitting module 201 may be different, and the number and order of the first identification code value and the second identification code value may be set to different numbers and orders.

[0066] See Table 1, code value definition table.

[0067]

[0068] It should be noted that the code value definition in Table 1 is based on the minimum carrier pulse time and the minimum carrier idle time of the infrared transmitting module and the infrared receiving module being 600us, wherein the first identification code value is set to 0 code or 1 code, and the second identification code value is set to 1 code or 0 code. The first identification code value and the second identification code value can also be set to other code values, which are not limited here.

[0069] The carrier pulse time of the end code in Table 1 is the minimum carrier pulse time allowed, 600us, which can shorten the transmission time and increase the transmission rate. The carrier pulse time of 0 code, 1 code, and preamble code is uniformly set to a preset multiple of the minimum carrier pulse time, so that the time width of the received carrier pulse level is allowed to have a certain deviation range, improve the decoding success rate, and facilitate the receiving end (for example, robot) to design the decoding logic. The preset multiple is a value greater than 1, for example, the preset multiple can be 2, or other values, which are not limited here. The carrier pulse time of 0 code, 1 code, and preamble code is uniformly set to 1200us, which is twice the level width of the minimum carrier pulse time. The carrier idle time of 0 code, 1 code, and preamble code is set to different values, and the robot can parse the type of code value according to the carrier idle time. The larger the numerical difference between the carrier idle time of 0 code, 1 code, and preamble code, the lower the probability of decoding error, but it has an impact on the data transmission rate. The larger the numerical difference between the carrier idle time, the lower the data transmission rate. The carrier idle time of 0 code, 1 code, and preamble code can be set according to actual needs.

[0070] Exemplarily, the infrared transmitting module sends a 1-byte data packet, which includes 1 preamble, 8 code values ​​to be tested and 1 end code. The 8 code values ​​to be tested can be a random order of the first identification code value and / or the second identification code value. For example, the 8 code values ​​to be tested are 8 0 codes, or 8 1 codes, or a random combination of 8 0 codes and 1 codes. It can be seen that the frequency of 0 codes and 1 codes is the highest, so the level time width of 0 codes and 1 codes should be as small as possible to increase the transmission rate. For a workstation with multiple infrared transmitting modules, different infrared carrier signals can be emitted, and the number and order of the first identification code value and the second identification code value are set to different numbers and orders, and different infrared carrier signals can be obtained.

[0071] Step S302: acquiring level characteristic parameters according to the infrared carrier signal.

[0072] In this embodiment, the robot continuously receives the infrared carrier signal through the infrared receiving module, and the actual carrier pulse time T can be obtained based on the infrared carrier signal. ti and the actual carrier idle time T di , the actual carrier pulse time T ti and the actual carrier idle time T di Match with the preset code value type and perform level decoding. After the level decoding is successful, the matched code value type and the standard carrier time T specified by the code value type can be obtained. t and standard carrier idle time T d . According to the actual carrier pulse time T ti and the actual carrier idle time T di , standard carrier time Tt , Standard carrier idle time T d The level characteristic parameters are determined based on the number of successful level decodings, and the level characteristic parameters include a level fitting rate and / or a level decoding success rate.

[0073] See also Figure 5 When the level characteristic parameter includes the level fitting rate, step S302 includes steps S3021 to S3024, and each step is described below.

[0074] Step S3021, obtaining the actual carrier pulse time and actual carrier idle time of each code value to be measured of the infrared carrier signal.

[0075] Exemplarily, the infrared transmitting module sends one data packet, which includes a preamble code, 8 code values ​​to be tested and an end code. The infrared receiving module of the robot obtains the data packet, identifies the preamble code, the code value to be tested and the end code, and obtains the actual carrier pulse time and the actual carrier idle time for each code value to be tested.

[0076] In this embodiment, the robot also includes a controller, which is electrically connected to the infrared receiving module. When the infrared receiving module receives an infrared carrier signal, it can continuously send different level signals to the controller to distinguish between carrier pulse time and carrier idle time. The controller statistics the actual carrier pulse time and actual carrier idle time of each code value to be tested based on different level signals.

[0077] In this embodiment, step S3021 includes:

[0078] When the infrared receiving module receives the infrared carrier signal, a first level signal is sent to the controller of the robot through the infrared receiving module;

[0079] When the infrared receiving module does not receive the infrared carrier signal, sending a second level signal to the controller through the infrared receiving module;

[0080] The controller determines the actual carrier pulse time and the actual carrier idle time of each code value to be tested according to the first level signal and the second level signal.

[0081] Exemplarily, the first level signal may be a high level signal or a low level signal, and the second level signal may be a low level signal or a high level signal. The controller may obtain the actual carrier pulse time and the actual carrier idle time of each code value to be tested based on the statistics of the high level signal and the low level signal, which may be more accurate.

[0082] In this embodiment, when an infrared carrier signal is received, the output pin of the infrared receiving module outputs a low level; when no infrared carrier signal is received, the output pin of the infrared receiving module outputs a high level. The MCU collects the level of the output pin of the receiving module and decodes it, and at the same time, counts the level deviation to calculate the level fitting rate, counts the total number of decoding times and the number of successful decoding times to calculate the decoding success rate, and finally calculates the infrared signal quality parameter.

[0083] Step S3022: Matching the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested with a plurality of preset code values ​​to obtain a target code value corresponding to each of the code values ​​to be tested.

[0084] It should be understood that in the process of sending, transmitting and receiving infrared carrier signals, the actual carrier pulse time and the actual carrier idle time of the infrared carrier signal may deviate from the standard carrier pulse time and the standard carrier idle time. The allowable deviation range is set, and the standard carrier pulse time and the standard carrier idle time of the preset code value are matched according to the deviation range and the actual carrier pulse time and the actual carrier idle time to determine the corresponding target code value. For example, in combination with the previous example, the preset code values ​​include 0 code and 1 code, the actual carrier pulse time of a code value to be tested is 1199us, and the actual carrier idle time is 1001us, then the target code value of the code value to be tested can be determined to be 0 code. The actual carrier pulse time of a code value to be tested is 1199us, and the actual carrier idle time is 1701us, then the target code value of the code value to be tested can be determined to be 1 code.

[0085] Step S3023, obtaining the standard carrier pulse time and standard carrier idle time of each target code value.

[0086] In this embodiment, a code value table may be pre-set, and the code value table includes a plurality of code values ​​and the standard carrier pulse time and the standard carrier idle time corresponding to each code value. When the code value to be measured is determined to be the target code value, the standard carrier pulse time and the standard carrier idle time corresponding to the target code value may be determined from the pre-stored code value table. For example, if the target code value is 0 code, the standard pulse carrier time of 0 code is determined to be 1200us, and the quasi-pulse idle time is 1000us. If the target code value is 1 code, the standard pulse carrier time of 1 code is determined to be 1200us, and the quasi-pulse idle time is 1700us.

[0087] Step S3024: Acquire the level fitting rate according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be measured, and the standard carrier pulse time and the standard carrier idle time of each of the target code values.

[0088] In this embodiment, the carrier idle time deviation and the carrier pulse time deviation may be calculated, the level time deviation may be calculated in combination with the carrier idle time deviation and the carrier pulse time deviation, and then the level fitting rate may be calculated according to the level time deviation.

[0089] In one embodiment, step S3024 includes:

[0090] Calculate the level time deviation between each code value to be tested and its target code value according to the actual carrier pulse time and the actual carrier idle time of each code value to be tested, and the standard carrier pulse time and the standard carrier idle time of each target code value;

[0091] Determine a level time deviation average value of each level time deviation and a maximum level time deviation among each level time deviation;

[0092] The level fitting rate is determined according to the level time deviation average value and the maximum level time deviation.

[0093] Exemplarily, the time difference between the actual carrier pulse time of each code value to be tested and the standard carrier pulse time of the target code value is determined as the carrier pulse time deviation, the time difference between the actual carrier idle time of each code value to be tested and the standard carrier pulse time of the target code value is determined as the carrier idle time deviation, the absolute value of the sum of the carrier pulse time deviation and the carrier idle time deviation is obtained, and the absolute value is used as the level time deviation of the code value to be tested. For example, the level time deviation is calculated using the following formula.

[0094]

[0095] Among them, e i Indicates the level time deviation corresponding to the i-th code value to be tested, T t Indicates standard carrier time, T d Indicates the standard carrier idle time, T ti Indicates the actual carrier pulse time corresponding to the i-th code value to be tested, T di Represents the actual carrier idle time of the i-th code value to be tested, n≥i≥2, n is the number of code values ​​to be tested, for example, it can be the number of code values ​​to be tested contained in a data packet, or it can be the number of all code values ​​to be tested corresponding to all data packets within the monitoring period, and there is no limitation here.

[0096] For multiple code values ​​to be tested, the level time deviation of each code value to be tested can be obtained respectively, the level time deviation average value and the maximum level time deviation of the multiple level time deviations can be determined, and the level fitting rate can be calculated using the following formula.

[0097]

[0098] Among them, R fit represents the level fitting rate, e i represents the level time deviation corresponding to the i-th code value to be tested, emax is the maximum level time deviation, and n is the number of code values ​​to be tested. It should be noted that the smaller the average level deviation, the greater the level fitting rate; conversely, the larger the average level deviation, the smaller the level fitting rate.

[0099] In one embodiment, when the level characteristic parameter includes a level decoding success rate, see Figure 6 , step S302 includes step S3025-step S3026, and each step is described below.

[0100] Step S3025, determining whether each code value to be tested is successfully level-decoded to obtain the number of successful level-decodings.

[0101] In this embodiment, whether each code value to be tested is successfully level-decoded is determined based on whether each code value to be tested matches a target code value within a deviation range. For example, an actual carrier pulse time of a code value to be tested is 1199us, and an actual carrier idle time is 1001us. Within the preset deviation range, the target code value to which the code value to be tested can be matched is 0 code, indicating that the level decoding is successful.

[0102] In one embodiment, step S3025 includes:

[0103] Matching the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested with a plurality of preset code values;

[0104] If the code value to be tested matches the corresponding target code value, it is determined that the level decoding of the code value to be tested is successful.

[0105] In this embodiment, all code values ​​to be tested can be matched with preset code values ​​respectively. If the code value to be tested matches the corresponding target code value within the deviation range, it is determined that the level decoding of the code value to be tested is successful. If the code value to be tested does not match the target code value within the deviation range, the level decoding identification of the code value to be tested is determined, the number of successful level decoding is counted, and the number of code values ​​to be tested that undergo the matching process is counted.

[0106] Step S3026: determining the level decoding success rate according to the number of level decodings and the number of successful level decodings.

[0107] In this embodiment, the level decoding success rate is determined by the quotient of the number of level decoding times and the number of level decoding successes. Exemplarily, the level decoding success rate is calculated using the following formula.

[0108]

[0109] Among them, R de Indicates the level decoding success rate, N ok Indicates the number of successful level decoding, N all Indicates the number of level decodings. It should be noted that the higher the number of successful decodings, the greater the decoding success rate; conversely, the lower the number of successful decodings, the lower the decoding success rate.

[0110] It should be noted that when the level characteristic parameters include the level fitting rate and the level decoding success rate, it is necessary to adopt the corresponding processing procedures of steps S3021-S3024 and steps S3025-S3026 to obtain the level fitting rate and the level decoding success rate. To avoid repetition, they are not described here.

[0111] Step S303: determining the signal quality of the infrared carrier signal according to the level characteristic parameter.

[0112] In this embodiment, the level characteristic parameter is proportional to the signal quality of the infrared carrier signal, and the level characteristic parameter includes a level fitting rate and / or a level decoding success rate. When the level characteristic parameter includes a level fitting rate, the signal quality of the infrared carrier signal can be determined according to the level fitting rate, for example, the product value of the level fitting rate and a first preset weight is calculated, and the ratio of the product value to the preset fitting rate threshold is determined as the signal quality of the infrared carrier signal. When the level characteristic parameter includes a level decoding success rate, the signal quality of the infrared carrier signal can be determined according to the level decoding success rate, for example, the product value of the level fitting rate and a second preset weight is calculated, and the ratio of the product value to the preset level decoding success rate threshold is determined as the signal quality of the infrared carrier signal.

[0113] When the level characteristic parameters include the level fitting rate and the level decoding success rate, the signal quality of the infrared carrier signal can be determined according to the product of the level fitting rate and the level decoding success rate. Exemplarily, the signal quality of the infrared carrier signal can be calculated using the following formula.

[0114]

[0115] Among them, Q s Indicates the signal quality of the infrared carrier signal, R fit Represents the level fitting rate, R de It indicates the level decoding success rate. The signal quality of the infrared carrier signal is proportional to the level fitting rate and the decoding success rate. The greater the level fitting rate and the decoding success rate, the better the signal quality of the infrared carrier signal.

[0116] In the present embodiment, the level fitting rate reflects the level fitting degree between the level time actually received and the standard level time of regulation. The larger the fitting rate is, the higher the level decoding accuracy is, and the better the infrared signal quality is. The decoding success rate reflects the internal successful decoding level quantity of a certain number of code values ​​to be tested, and the closer to the maximum number (the quantity of all code values ​​to be tested), the better the infrared signal is. In addition, the signal quality of the infrared carrier signal is calculated in conjunction with the level fitting rate and the level decoding success rate, which fully reflects the decoding quality of the infrared signal at the robot position, and can improve the quality detection accuracy of the infrared carrier signal.

[0117] In one embodiment, the workstation includes at least two infrared transmitting modules, each of which is disposed at a different position of the workstation, and each of which transmits a different infrared carrier signal; the method further includes:

[0118] The infrared receiving module of the robot receives the infrared carrier signals alternately sent by the infrared transmitting modules of the workstation;

[0119] The infrared signal area where the robot is located is identified according to the received infrared carrier signal.

[0120] In this embodiment, the robot can decode different infrared carrier signals emitted by the workstation and assemble a complete data packet, and judge different infrared signal areas through the data packet. When the workstation is a charging pile, the identified infrared signal area can be used to identify its own position during the charging process. It should be noted that in this embodiment, only the level time width value is used as a calculation parameter, and only the current code value type needs to be decoded, and it does not need to be assembled into a complete data packet, so the processing efficiency is high.

[0121] In this embodiment, the infrared signal quality of the robot's location is calculated based on two level characteristic parameters, namely, the level fitting rate and the level decoding success rate. The calculation of these two level characteristic parameters depends on the level information and does not depend on the correct reception of the data packet. When the robot is in a poor infrared signal area, the deviation value of the level time is large, then the level fitting rate is low and the decoding success rate is low; when the robot is in a good infrared signal area, the deviation value of the level time is small, then the level fitting rate is high and the decoding success rate is high. The level fitting rate and the level decoding success rate obtained by this method can better reflect the infrared signal quality of the robot's location, not only can the infrared signal area that the machine can recognize be expanded, but also have better sensitivity and discrimination.

[0122] It is further explained that when the workstation is a charging pile, an infrared transmitting module is connected to the control board of the charging pile. The control board includes a controller (Micro Controller Unit, MCU), and the infrared transmitting module includes a transmitting tube circuit. During operation, a PWM pulse with a specific duty cycle is generated through the timer channel of the control board. According to the code value definition, the PWM pulse start and stop are periodically controlled to control the on and off of the transmitting tube circuit, thereby emitting an infrared carrier signal. If two or more infrared transmitting modules transmit infrared signals at the same time, infrared signal confusion will occur, resulting in confusion at the receiving end. Therefore, multiple infrared transmitting modules adopt an alternating transmission strategy.

[0123] See also Figure 7 , the process of the infrared transmitting module transmitting the infrared carrier signal includes:

[0124] Step S701, constructing an infrared emission module list;

[0125] Step S702, start sending infrared carrier signal;

[0126] Step S703, obtaining the next infrared transmitting module to be sent;

[0127] Step S704, the current infrared transmitting module sends an infrared carrier signal;

[0128] Step S705, determining whether all infrared transmitting modules have completed sending.

[0129] In step S705, if all infrared transmission modules have finished sending, the process proceeds to step S706. If all infrared transmission modules have not finished sending, the process proceeds to step S703.

[0130] Step S706, the acquisition operation is reset. The infrared transmitting modules in the infrared transmitting module list are read again, and the infrared transmitting modules are controlled in sequence to send different infrared carrier signals.

[0131] See also Figure 8 , the calculation process of the signal quality of the infrared carrier signal includes:

[0132] Step S801: The infrared receiving module obtains the actual carrier pulse time and the actual carrier idle time of a code value to be measured.

[0133] Step S802: level decoding processing to obtain the standard carrier pulse time and standard carrier pulse idle time of the code value to be measured.

[0134] Step S803, counting the level deviation, accumulating the number of decoding times and the number of successful decoding times.

[0135] Step S804, determining whether the monitoring period is satisfied.

[0136] In this embodiment, if the monitoring period is satisfied, the process proceeds to step S805. If the monitoring period is not satisfied, the process proceeds to step S801.

[0137] Step S805, calculating the level fitting rate, the level decoding success rate and the signal quality of the infrared carrier signal.

[0138] Step S806, reset the data and enter the signal quality detection of the infrared carrier signal in the next monitoring cycle.

[0139] The infrared signal detection method of the robot provided in this embodiment receives the infrared carrier signal sent by the infrared transmitting module of the workstation through the infrared receiving module of the robot; obtains the level characteristic parameters according to the infrared carrier signal, and the level characteristic parameters include the level fitting rate and / or the level decoding success rate; determines the signal quality of the infrared carrier signal according to the level characteristic parameters, and the level characteristic parameters are proportional to the signal quality of the infrared carrier signal. The robot can detect and calculate the infrared signal quality of the workstation even in areas far away from the infrared signal source of the workstation and with poor signals, thereby improving the accuracy of the signal quality of the infrared carrier signal, and at the same time having higher discrimination and sensitivity to the infrared signal area, thereby improving the efficiency of the robot in finding piles.

[0140] Example 2

[0141] In addition, an embodiment of the present application provides an infrared signal detection device for a robot.

[0142] like Fig. 9 As shown, the infrared signal detection device 900 of the robot includes:

[0143] The receiving module 901 is used to receive the infrared carrier signal sent by the infrared transmitting module of the workstation through the infrared receiving module of the robot;

[0144] An acquisition module 902 is used to acquire a level characteristic parameter according to the infrared carrier signal, wherein the level characteristic parameter includes a level fitting rate and / or a level decoding success rate;

[0145] The determination module 903 is used to determine the signal quality of the infrared carrier signal according to the level characteristic parameter, and the level characteristic parameter is proportional to the signal quality of the infrared carrier signal.

[0146] In one embodiment, the level characteristic parameter includes a level fitting rate, and the infrared carrier signal includes at least two code values ​​to be tested; an acquisition module 902 is used to obtain an actual carrier pulse time and an actual carrier idle time of each code value to be tested of the infrared carrier signal;

[0147] According to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested, matching with a plurality of preset code values ​​obtains a target code value corresponding to each of the code values ​​to be tested;

[0148] Obtaining a standard carrier pulse time and a standard carrier idle time for each target code value;

[0149] The level fitting rate is acquired according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be measured, and the standard carrier pulse time and the standard carrier idle time of each of the target code values.

[0150] In one embodiment, the acquisition module 902 is used to send a first level signal to the controller of the robot through the infrared receiving module when the infrared receiving module receives the infrared carrier signal;

[0151] When the infrared receiving module does not receive the infrared carrier signal, sending a second level signal to the controller through the infrared receiving module;

[0152] The controller determines the actual carrier pulse time and the actual carrier idle time of each code value to be tested according to the first level signal and the second level signal.

[0153] In one embodiment, the acquisition module 902 is used to calculate the level time deviation between each code value to be tested and its target code value according to the actual carrier pulse time and the actual carrier idle time of each code value to be tested, and the standard carrier pulse time and the standard carrier idle time of each target code value;

[0154] Determine a level time deviation average value of each level time deviation and a maximum level time deviation among each level time deviation;

[0155] The level fitting rate is determined according to the level time deviation average value and the maximum level time deviation.

[0156] In one embodiment, the level characteristic parameter includes a level decoding success rate, and the infrared carrier signal includes at least two code values ​​to be tested; the acquisition module 902 is used to determine whether each code value to be tested is successfully level decoded to obtain the number of successful level decoding;

[0157] The level decoding success rate is determined according to the number of level decoding times and the number of successful level decodings.

[0158] In one embodiment, the acquisition module 902 is used to match the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested with multiple preset code values;

[0159] If the code value to be tested matches the corresponding target code value, it is determined that the level decoding of the code value to be tested is successful.

[0160] In one embodiment, the workstation includes at least two infrared transmitting modules, each of which is disposed at a different position of the workstation, and each of which transmits a different infrared carrier signal;

[0161] A receiving module 901 is used for receiving infrared carrier signals alternately sent by the infrared transmitting modules of the workstation through the infrared receiving module of the robot;

[0162] The infrared signal detection device 900 of the robot also includes:

[0163] The identification module is used to identify the infrared signal area where the robot is located according to the received infrared carrier signal.

[0164] The infrared signal detection device 900 of the robot provided in this embodiment can implement the infrared signal detection method of the robot provided in Example 1, and will not be described again here to avoid repetition.

[0165] The infrared signal detection device of the robot provided in this embodiment receives the infrared carrier signal sent by the infrared transmitting module of the workstation through the infrared receiving module of the robot; obtains the level characteristic parameters according to the infrared carrier signal, and the level characteristic parameters include the level fitting rate and / or the level decoding success rate; determines the signal quality of the infrared carrier signal according to the level characteristic parameters, and the level characteristic parameters are proportional to the signal quality of the infrared carrier signal. The robot can detect and calculate the infrared signal quality of the workstation even in areas far away from the infrared signal source of the workstation and with poor signals, thereby improving the accuracy of the signal quality of the infrared carrier signal, and at the same time having higher discrimination and sensitivity to the infrared signal area, thereby improving the efficiency of the robot in finding piles.

[0166] Example 3

[0167] In addition, an embodiment of the present application provides a robot, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the infrared signal detection method of the robot provided in Example 1 is executed.

[0168] The robot provided in this embodiment can implement the infrared signal detection method of the robot provided in Example 1, and will not be described again here to avoid repetition.

[0169] Example 4

[0170] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the infrared signal detection method of the robot provided in Example 1 is implemented.

[0171] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0172] The computer-readable storage medium provided in this embodiment can implement the infrared signal detection method of the robot provided in Example 1, and will not be described again here to avoid repetition.

[0173] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0174] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0175] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A robot infrared signal detection method, characterized in that: The method comprises: The infrared receiving module of the robot receives the infrared carrier signal sent by the infrared transmitting module of the workstation; Acquire a level characteristic parameter according to the infrared carrier signal, wherein the level characteristic parameter includes a level fitting rate and / or a level decoding success rate; The signal quality of the infrared carrier signal is determined according to the level characteristic parameter, and the level characteristic parameter is proportional to the signal quality of the infrared carrier signal.

2. The method according to claim 1, characterized in that The level characteristic parameter includes a level fitting rate, and the infrared carrier signal includes at least two code values ​​to be tested; The step of obtaining a level characteristic parameter according to the infrared carrier signal comprises: Acquire the actual carrier pulse time and the actual carrier idle time of each code value to be measured of the infrared carrier signal; According to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested, matching with a plurality of preset code values ​​obtains a target code value corresponding to each of the code values ​​to be tested; Obtaining a standard carrier pulse time and a standard carrier idle time for each target code value; The level fitting rate is acquired according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be measured, and the standard carrier pulse time and the standard carrier idle time of each of the target code values.

3. The method according to claim 2, characterized in that The step of obtaining the actual carrier pulse time and the actual carrier idle time of each code value to be tested of the infrared carrier signal comprises: When the infrared receiving module receives the infrared carrier signal, a first level signal is sent to the controller of the robot through the infrared receiving module; When the infrared receiving module does not receive the infrared carrier signal, sending a second level signal to the controller through the infrared receiving module; The controller determines the actual carrier pulse time and the actual carrier idle time of each code value to be tested according to the first level signal and the second level signal.

4. The method according to claim 2, characterized in that: The step of acquiring the level fitting rate according to the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested, and the standard carrier pulse time and the standard carrier idle time of each of the target code values, comprises: Calculate the level time deviation between each code value to be tested and its target code value according to the actual carrier pulse time and the actual carrier idle time of each code value to be tested, and the standard carrier pulse time and the standard carrier idle time of each target code value; Determine a level time deviation average value of each level time deviation and a maximum level time deviation among each level time deviation; The level fitting rate is determined according to the level time deviation average value and the maximum level time deviation.

5. The method according to claim 1, characterized in that The level characteristic parameter includes a level decoding success rate, and the infrared carrier signal includes at least two code values ​​to be tested; The step of obtaining a level characteristic parameter according to the infrared carrier signal comprises: Determine whether each code value to be tested is successfully decoded to obtain the number of successful level decoding; The level decoding success rate is determined according to the number of level decoding times and the number of successful level decodings.

6. The method according to claim 5, characterized in that The step of judging whether each code value to be tested is successfully decoded in level comprises: Matching the actual carrier pulse time and the actual carrier idle time of each of the code values ​​to be tested with a plurality of preset code values; If the code value to be tested matches the corresponding target code value, it is determined that the level decoding of the code value to be tested is successful.

7. The method according to any one of claims 1 to 6, characterized in that The workstation includes at least two infrared transmitting modules, each of which is disposed at a different position of the workstation, and each of which transmits a different infrared carrier signal; the method further includes: The infrared receiving module of the robot receives the infrared carrier signals alternately sent by the infrared transmitting modules of the workstation; The infrared signal area where the robot is located is identified according to the received infrared carrier signal.

8. A robot infrared signal detection device, characterized in that: The device comprises: A receiving module, used for receiving an infrared carrier signal sent by an infrared transmitting module of a workstation through an infrared receiving module of the robot; An acquisition module, used for acquiring level characteristic parameters according to the infrared carrier signal, wherein the level characteristic parameters include a level fitting rate and / or a level decoding success rate; The determination module is used to determine the signal quality of the infrared carrier signal according to the level characteristic parameter, and the level characteristic parameter is proportional to the signal quality of the infrared carrier signal.

9. A robot, characterized in that: The invention comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is run by the processor, the infrared signal detection method of the robot according to any one of claims 1 to 7 is executed.

10. A computer-readable storage medium, characterized in that: The computer program stores a computer program, which executes the infrared signal detection method of the robot according to any one of claims 1 to 7 when running on a processor.

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